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SITL: use SocketAPM_native

This commit is contained in:
Andrew Tridgell 2023-12-26 13:21:11 +11:00
parent 213cdcef4b
commit adffd93894
22 changed files with 46 additions and 46 deletions
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2
libraries/SITL/SIM_ADSB.h
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@ -22,7 +22,7 @@
#if HAL_SIM_ADSB_ENABLED #if HAL_SIM_ADSB_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"

4
libraries/SITL/SIM_AirSim.h
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@ -26,7 +26,7 @@
#if HAL_SIM_AIRSIM_ENABLED #if HAL_SIM_AIRSIM_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
namespace SITL { namespace SITL {
@ -78,7 +78,7 @@ private:
// connection_info_.sitl_ip_port // connection_info_.sitl_ip_port
uint16_t airsim_control_port = 9002; uint16_t airsim_control_port = 9002;
SocketAPM sock; SocketAPM_native sock;
double average_frame_time; double average_frame_time;
uint64_t frame_counter; uint64_t frame_counter;

4
libraries/SITL/SIM_CRRCSim.h
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@ -26,7 +26,7 @@
#if HAL_SIM_CRRCSIM_ENABLED #if HAL_SIM_CRRCSIM_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
@ -81,7 +81,7 @@ private:
bool heli_servos; bool heli_servos;
double last_timestamp; double last_timestamp;
SocketAPM sock; SocketAPM_native sock;
}; };
} // namespace SITL } // namespace SITL

2
libraries/SITL/SIM_EFI_Hirth.h
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@ -29,7 +29,7 @@ status EFI_STATUS
#pragma once #pragma once
#include <SITL/SITL.h> #include <SITL/SITL.h>
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_SerialDevice.h" #include "SIM_SerialDevice.h"
namespace SITL { namespace SITL {

2
libraries/SITL/SIM_EFI_MegaSquirt.h
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@ -28,8 +28,8 @@ status EFI_STATUS
#pragma once #pragma once
#include <AP_HAL/utility/Socket_native.h>
#include <SITL/SITL.h> #include <SITL/SITL.h>
#include <AP_HAL/utility/Socket.h>
#include "SIM_SerialDevice.h" #include "SIM_SerialDevice.h"
namespace SITL { namespace SITL {

2
libraries/SITL/SIM_FlightAxis.cpp
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@ -590,7 +590,7 @@ void FlightAxis::socket_creator(void)
pthread_cond_wait(&sockcond2, &sockmtx); pthread_cond_wait(&sockcond2, &sockmtx);
} }
pthread_mutex_unlock(&sockmtx); pthread_mutex_unlock(&sockmtx);
auto *sck = new SocketAPM(false); auto *sck = new SocketAPM_native(false);
if (sck == nullptr) { if (sck == nullptr) {
usleep(500); usleep(500);
continue; continue;

6
libraries/SITL/SIM_FlightAxis.h
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@ -26,7 +26,7 @@
#if HAL_SIM_FLIGHTAXIS_ENABLED #if HAL_SIM_FLIGHTAXIS_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
@ -193,8 +193,8 @@ private:
const char *controller_ip = "127.0.0.1"; const char *controller_ip = "127.0.0.1";
uint16_t controller_port = 18083; uint16_t controller_port = 18083;
SocketAPM *socknext; SocketAPM_native *socknext;
SocketAPM *sock; SocketAPM_native *sock;
char replybuf[10000]; char replybuf[10000];
pid_t socket_pid; pid_t socket_pid;
uint32_t sock_error_count; uint32_t sock_error_count;

4
libraries/SITL/SIM_Gazebo.h
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@ -27,7 +27,7 @@
#if HAL_SIM_GAZEBO_ENABLED #if HAL_SIM_GAZEBO_ENABLED
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
namespace SITL { namespace SITL {
@ -76,7 +76,7 @@ private:
double last_timestamp; double last_timestamp;
SocketAPM socket_sitl; SocketAPM_native socket_sitl;
const char *_gazebo_address = "127.0.0.1"; const char *_gazebo_address = "127.0.0.1";
int _gazebo_port = 9002; int _gazebo_port = 9002;
static const uint64_t GAZEBO_TIMEOUT_US = 5000000; static const uint64_t GAZEBO_TIMEOUT_US = 5000000;

4
libraries/SITL/SIM_Gimbal.h
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@ -26,7 +26,7 @@
#if HAL_SIM_GIMBAL_ENABLED #if HAL_SIM_GIMBAL_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
@ -101,7 +101,7 @@ private:
uint8_t vehicle_system_id; uint8_t vehicle_system_id;
uint8_t vehicle_component_id; uint8_t vehicle_component_id;
SocketAPM mav_socket; SocketAPM_native mav_socket;
struct { struct {
// socket to telem2 on aircraft // socket to telem2 on aircraft
bool connected; bool connected;

6
libraries/SITL/SIM_JSBSim.h
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@ -26,7 +26,7 @@
#if HAL_SIM_JSBSIM_ENABLED #if HAL_SIM_JSBSIM_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
@ -49,10 +49,10 @@ public:
private: private:
// tcp input control socket to JSBSIm // tcp input control socket to JSBSIm
SocketAPM sock_control; SocketAPM_native sock_control;
// UDP packets from JSBSim in fgFDM format // UDP packets from JSBSim in fgFDM format
SocketAPM sock_fgfdm; SocketAPM_native sock_fgfdm;
bool initialised; bool initialised;

4
libraries/SITL/SIM_JSON.h
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@ -22,7 +22,7 @@
#if HAL_SIM_JSON_ENABLED #if HAL_SIM_JSON_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
namespace SITL { namespace SITL {
@ -64,7 +64,7 @@ private:
// default connection_info_.sitl_ip_port // default connection_info_.sitl_ip_port
uint16_t control_port = 9002; uint16_t control_port = 9002;
SocketAPM sock; SocketAPM_native sock;
uint32_t frame_counter; uint32_t frame_counter;
double last_timestamp_s; double last_timestamp_s;

6
libraries/SITL/SIM_JSON_Master.h
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@ -27,7 +27,7 @@
#if HAL_SIM_JSON_MASTER_ENABLED #if HAL_SIM_JSON_MASTER_ENABLED
#include "SITL_Input.h" #include "SITL_Input.h"
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
namespace SITL { namespace SITL {
@ -48,8 +48,8 @@ public:
private: private:
struct socket_list { struct socket_list {
SocketAPM sock_in{true}; SocketAPM_native sock_in{true};
SocketAPM sock_out{true}; SocketAPM_native sock_out{true};
uint8_t instance; uint8_t instance;
bool connected; bool connected;
socket_list *next; socket_list *next;

4
libraries/SITL/SIM_Morse.cpp
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@ -261,7 +261,7 @@ bool Morse::parse_sensors(const char *json)
bool Morse::connect_sockets(void) bool Morse::connect_sockets(void)
{ {
if (!sensors_sock) { if (!sensors_sock) {
sensors_sock = new SocketAPM(false); sensors_sock = new SocketAPM_native(false);
if (!sensors_sock) { if (!sensors_sock) {
AP_HAL::panic("Out of memory for sensors socket"); AP_HAL::panic("Out of memory for sensors socket");
} }
@ -280,7 +280,7 @@ bool Morse::connect_sockets(void)
printf("Sensors connected\n"); printf("Sensors connected\n");
} }
if (!control_sock) { if (!control_sock) {
control_sock = new SocketAPM(false); control_sock = new SocketAPM_native(false);
if (!control_sock) { if (!control_sock) {
AP_HAL::panic("Out of memory for control socket"); AP_HAL::panic("Out of memory for control socket");
} }

8
libraries/SITL/SIM_Morse.h
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@ -26,7 +26,7 @@
#if HAL_SIM_MORSE_ENABLED #if HAL_SIM_MORSE_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
namespace SITL { namespace SITL {
@ -51,7 +51,7 @@ private:
// loopback to convert inbound Morse lidar data into inbound mavlink msgs // loopback to convert inbound Morse lidar data into inbound mavlink msgs
const char *mavlink_loopback_address = "127.0.0.1"; const char *mavlink_loopback_address = "127.0.0.1";
const uint16_t mavlink_loopback_port = 5762; const uint16_t mavlink_loopback_port = 5762;
SocketAPM mav_socket { false }; SocketAPM_native mav_socket { false };
struct { struct {
// socket to telem2 on aircraft // socket to telem2 on aircraft
bool connected; bool connected;
@ -91,8 +91,8 @@ private:
uint8_t sensor_buffer[50000]; uint8_t sensor_buffer[50000];
uint32_t sensor_buffer_len; uint32_t sensor_buffer_len;
SocketAPM *sensors_sock; SocketAPM_native *sensors_sock;
SocketAPM *control_sock; SocketAPM_native *control_sock;
uint32_t no_data_counter; uint32_t no_data_counter;
uint32_t connect_counter; uint32_t connect_counter;

6
libraries/SITL/SIM_Scrimmage.h
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@ -28,7 +28,7 @@
#include <string> #include <string>
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
@ -84,8 +84,8 @@ private:
void send_servos(const struct sitl_input &input); void send_servos(const struct sitl_input &input);
uint64_t prev_timestamp_us; uint64_t prev_timestamp_us;
SocketAPM recv_sock; SocketAPM_native recv_sock;
SocketAPM send_sock; SocketAPM_native send_sock;
}; };
} // namespace SITL } // namespace SITL

4
libraries/SITL/SIM_Ship.h
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@ -22,7 +22,7 @@
#if AP_SIM_SHIP_ENABLED #if AP_SIM_SHIP_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
#include <AP_Common/Location.h> #include <AP_Common/Location.h>
#include <GCS_MAVLink/GCS_MAVLink.h> #include <GCS_MAVLink/GCS_MAVLink.h>
@ -83,7 +83,7 @@ private:
uint32_t last_report_ms; uint32_t last_report_ms;
uint32_t last_heartbeat_ms; uint32_t last_heartbeat_ms;
SocketAPM mav_socket { false }; SocketAPM_native mav_socket { false };
bool mavlink_connected; bool mavlink_connected;
mavlink_status_t mav_status; mavlink_status_t mav_status;

4
libraries/SITL/SIM_SilentWings.h
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@ -23,7 +23,7 @@
#if HAL_SIM_SILENTWINGS_ENABLED #if HAL_SIM_SILENTWINGS_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
@ -109,7 +109,7 @@ private:
/* ArduPlane's internal time when the first packet from Silent Wings is received. */ /* ArduPlane's internal time when the first packet from Silent Wings is received. */
uint64_t time_base_us; uint64_t time_base_us;
SocketAPM sock; SocketAPM_native sock;
const char *_sw_address = "127.0.0.1"; const char *_sw_address = "127.0.0.1";
int _port_in = 6060; int _port_in = 6060;
int _sw_port = 6070; int _sw_port = 6070;

2
libraries/SITL/SIM_Webots.cpp
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@ -291,7 +291,7 @@ bool Webots::parse_sensors(const char *json)
bool Webots::connect_sockets(void) bool Webots::connect_sockets(void)
{ {
if (!sim_sock) { if (!sim_sock) {
sim_sock = new SocketAPM(false); sim_sock = new SocketAPM_native(false);
if (!sim_sock) { if (!sim_sock) {
AP_HAL::panic("Out of memory for sensors socket"); AP_HAL::panic("Out of memory for sensors socket");
} }

4
libraries/SITL/SIM_Webots.h
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@ -27,7 +27,7 @@
#if HAL_SIM_WEBOTS_ENABLED #if HAL_SIM_WEBOTS_ENABLED
#include <cmath> #include <cmath>
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
namespace SITL { namespace SITL {
@ -79,7 +79,7 @@ private:
uint8_t sensor_buffer[50000]; uint8_t sensor_buffer[50000];
uint32_t sensor_buffer_len; uint32_t sensor_buffer_len;
SocketAPM *sim_sock; SocketAPM_native *sim_sock;
uint32_t connect_counter; uint32_t connect_counter;

4
libraries/SITL/SIM_Webots_Python.h
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@ -27,7 +27,7 @@
#if HAL_SIM_WEBOTSPYTHON_ENABLED #if HAL_SIM_WEBOTSPYTHON_ENABLED
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
namespace SITL { namespace SITL {
@ -78,7 +78,7 @@ private:
double last_timestamp; double last_timestamp;
SocketAPM socket_sitl; SocketAPM_native socket_sitl;
const char* _webots_address = "127.0.0.1"; const char* _webots_address = "127.0.0.1";
int _webots_port = 9002; int _webots_port = 9002;
static const uint64_t WEBOTS_TIMEOUT_US = 5000000; static const uint64_t WEBOTS_TIMEOUT_US = 5000000;

6
libraries/SITL/SIM_XPlane.h
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@ -26,7 +26,7 @@
#if HAL_SIM_XPLANE_ENABLED #if HAL_SIM_XPLANE_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include <AP_Filesystem/AP_Filesystem.h> #include <AP_Filesystem/AP_Filesystem.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
@ -70,8 +70,8 @@ private:
uint16_t xplane_port = 49000; uint16_t xplane_port = 49000;
uint16_t bind_port = 49001; uint16_t bind_port = 49001;
// udp socket, input and output // udp socket, input and output
SocketAPM socket_in{true}; SocketAPM_native socket_in{true};
SocketAPM socket_out{true}; SocketAPM_native socket_out{true};
uint64_t time_base_us; uint64_t time_base_us;
uint32_t last_data_time_ms; uint32_t last_data_time_ms;

4
libraries/SITL/SIM_last_letter.h
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@ -26,7 +26,7 @@
#if HAL_SIM_LAST_LETTER_ENABLED #if HAL_SIM_LAST_LETTER_ENABLED
#include <AP_HAL/utility/Socket.h> #include <AP_HAL/utility/Socket_native.h>
#include "SIM_Aircraft.h" #include "SIM_Aircraft.h"
@ -77,7 +77,7 @@ private:
void start_last_letter(void); void start_last_letter(void);
uint64_t last_timestamp_us; uint64_t last_timestamp_us;
SocketAPM sock; SocketAPM_native sock;
}; };
} // namespace SITL } // namespace SITL